• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.730-733
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• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with redundant limbs, obtained by putting additional limbs to an existing parallel manipulator. We develop the kinematic and dynamic models of a parallel, manipulator with redundant limbs. The redundancy in parallelism due to the increased number of limbs and the redundancy in actuation due to the increased number of active joints are considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with redundant limbs. The effect of the redundant limbs on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

• The Korean Journal of Health Service Management
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• v.8 no.1
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• pp.113-123
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• 2014

The purpose this study was to investigate the relationship between Upper extremity's function and Activities of Daily Living(ADL) in stroke patients. The participants were 112 stroke patients who underwent occupational therapy. Data were analyzed using descriptive statistics, Pearson's correlation coefficient, and multiple linear regression analysis. The results are as foolows. MFT of both unaffected upper limbs and affected upper limbs were significantly correlated with total MBI score. The all area of MFT on the affected upper limbs were significantly correlated with sub-item of MBI. And finger manipulation area of MFT on the unaffected upper limbs were significantly correlated with sub-item of MBI. Significant factors influencing MBI, both unaffected upper limbs and affected upper limbs total score. Significant factors influencing sub-items of MBI, the function of affected upper limbs by MFT were MBI all sub items exculsive bowel, bladder control and the function of unaffected upper limbs by MFT were personal hygiene, bathing, feeding, toilet, bowel & bladder control, chair/bed transfer of MBI sub items. Above results show that ADL is highly correlated with affected upper limbs and unaffected upper limbs function in the stroke patients.

• Journal of Chest Surgery
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• v.55 no.3
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• pp.233-238
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• 2022

Background: This study investigated the distribution of valve incompetence in patients with chronic venous disease (CVD) and its correlation with the clinical category of the clinical, etiological, anatomical, and pathophysiological (CEAP) classification. Methods: In total, 1,386 limbs with clinically suspected CVD were categorized according to the CEAP classification and consecutively underwent duplex ultrasonography between April 2017 and December 2020. Results: There were 362 limbs in male patients and 1,024 limbs in female patients. The limbs were classified as C0s-C1 (608 limbs, 43.8%), C2 (727 limbs, 52.5%), or C3-C6 (51 limbs, 3.7%). The prevalence of saphenous vein incompetence in CEAP C0s-C1 limbs was 43.6%. The saphenofemoral junction (SFJ) was competent in 37% of CEAP C2-C6 limbs. The CEAP C3-C6 category was not correlated with reflux patterns of the saphenous vein system (Cramer's V=0.07), incompetent SFJ (Cramer's V=0.07), deep vein reflux (Cramer's V=0.03), or the distribution of incompetent segments in the great saphenous vein (GSV) (Cramer's V=0.11). Conclusion: Duplex ultrasonography is necessary to formulate a proper treatment plan for limbs categorized as CEAP C0s-C1. The SFJ was competent in more than one-third of CEAP C2-C6 limbs with GSV reflux; as such, flush ligation of the GSV may be unnecessary in these patients. The CEAP C3-C6 category showed no correlations with reflux patterns of the saphenous vein system, SFJ reflux, deep vein reflux, or the distribution of incompetent segments in the GSV.

• Journal of the Ergonomics Society of Korea
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• v.30 no.5
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• pp.671-681
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• 2011

Objective: The purpose of this study is to compare the workload level at each lower limbs posture and suggest the ergonomic workstation guideline for working period by evaluating the imbalanced lower limbs postures from the physiological and psychophysical points of view. Background: Many workers like welders are working in various imbalanced lower limbs postures either due to the narrow working conditions or other environmental conditions. Method: Ten male subjects participated in this experiment. Subjects were asked to maintain 3 different lower limbs postures(standing, squatting and bending) with 3 different working conditions(balanced floor with no scaffold, imbalanced floor with 10cm height of scaffold, and imbalanced floor with 20cm height of scaffold). EMG data for the 4 muscle groups(Retus Femoris, Vastus Lateralis, Tibialis Anterior, Gastrocnemius) from each lower limbs posture were collected for 20 seconds every 2 minutes during the 8 minutes sustaining task. Subjects were also asked to report their discomfort ratings of body parts such as waist, upper legs, lower legs, and ankle. Results: The ANOVA results showed that the EMG root mean square(RMS) values and the discomfort ratings(CR-10 Rating Scale) were significantly affected by lower limbs postures and working time(p<0.05). The correlation was analyzed between the EMG data and the discomfort ratings. Also, prediction models for the discomfort rating for each posture were developed using physical condition, working time, and scaffold height. Conclusion: We strongly recommend that one should not work more than 6 minutes in a standing or squatting postures and should not work more than 4 minutes in a bending posture. Application: The results of this study could be used to design and assess working environments and methods. Furthermore, these results could be used to suggest ergonomic guidelines for the lower limbs postures such as squatting and bending in the working fields in order to prevent fatigue and pain in the lower limbs body.

• Journal of Bio-Environment Control
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• v.16 no.3
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• pp.258-263
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• 2007

This study was carried out to investigate the effects of number of the lower scaffold limbs on tree growth, light penetration, fruit yield, and fruit quality in slender spindle in 6-year-old 'Fuji'/M.9 apple trees. With regard to the growth by the numbers of the lower scaffold limbs, the width of the tree was wide and the growth of new shoots was increased when the number of the lower scaffold limbs was five. Compare with other treatments, five lower scaffold limbs showed high light-interception on the upper (150 cm above the ground) and middle (100 cm above the ground) canopy. There was no difference in the total number of the flower buds of the spurs according to the number of scaffold limbs, but the number and cross section area of flower bud on the lower canopy (120 cm above the ground) were increased where the number of the lower scaffold limbs was five. Fruit yield was highest in the treated with five lower scaffold limbs and fruit weight tended to increase where the number of the lower scaffold limbs was five or eight. With regard to fruit quality, there showed no difference in fruit shape index, firmness, acid content, Hunter L and b value according to the location of canopy and the number of the lower scaffold limbs, but the content of soluble solids was highest treated with five lower scaffold limbs. Hunter a value indicating fruit color was found to be highest treated with five lower scaffold limbs whose light interception was highest.

• Animal cells and systems
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• v.6 no.4
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• pp.301-304
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• 2002

In our previous study, we have shown that Fgf-8 is expressed in the basal layer of the apical epithelial cap (AEC) and in the underlying thin layer of mesenchymal tissue of the regenerating limbs of Mexican axolotl, Amby-stoma mexicanum. Our present RT-PCR data also demonstrate that Fgf-8 transcript is localized both in the mesenchymal and epidermal tissues. To understand the effect of retinoic acid (RA) on the expression of Fgf-8 in the regenerating axolotl limbs, RA was injected intraperitoneally at the dediffer-entiation stage of limb regeneration. The RA treatment caused 8 change in the Fgf-8 expression profile of the regenerating limbs. In RA-treated limbs, duration of Fgf-8 expression was prolonged and a high level of expression was maintained during dedifferentiation and blastema formation stages. These results suggest that Fgf-8 is an important molecule in the process of pattern duplication of regenerating salamander limbs evoked by RA treatment.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.8
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• pp.1231-1239
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• 2015

We developed a robot that has four limbs, each of which has the same kinematic structure and has 6 degrees of freedom. The robot is 600mm high and weighs 4.3kg. The robot can perform walking and manipulating task by using the four limbs selectively. The robot has three walking patterns. The first one is biped walking, which uses two rear limbs as legs and two front limbs as arms. The second one is biped walking with supporting arms, which is basically biped walking but uses two arms as supporting legs for increasing stability of the robot. The last one is quadruped walking, which uses all the four limbs as legs. When a task for the robot is given, the robot approaches the task point by selecting an appropriate walking pattern among three walking patterns and performs the task. The robot has many degrees of freedom and is a redundant system for a three dimensional task. We propose a redundancy resolution method, in which the robot’s translational move to the task point is modeled as a prismatic joint and optimal solutions are obtained by optimizing some performance criteria. Several simulations are performed for the validity of the proposed method.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2002.05a
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• pp.219-222
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• 2002

A new designed composite archery bow limbs are developed in this study. The characteristic F-X curve in current recurve archery bow is first studied for a reference. Based on this, a composite archery bow is designed to obtain a higher strain Energy and good vibration performance. Carbon/Epoxy prototype archery bow limbs are made from autoclaving and test on INSTRON 5567 test machine. The experimental results show that the new designed archery bow is powerful and stable.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.13 no.2
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• pp.55-68
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• 2007

Object: to evaluate the effects of two different treatments-joint mobilization and therapeutic exercise on difference for length of lower limbs. Method: The subjects were participated twenty six who has difference for length of lower limbs more 10mm. All subjects randomly assigned to Joint mobilization group(n=13) and therapeutic exercise group. Joint mobilization group received joint mobilization for 2 minutes, Therapeutic exercise group received for 15 minutes per day and 3 times a week during 4 week period. Tape measure method was used to measure the difference for length of lower limbs. Biodex was used to measure the muscle power of lower limbs(Knee flexion, extension). Finger to floor test was used to measure the mobility of spinal column. All measurement of each subjects were measured at pre-experiment, after 2weeks and post-experiment. Result: The result of this study were summarized as follows : 1. Both treatment decreased difference for length of lower limbs while joint mobilization more decreased difference for length of lower limbs than therapeutic exercise. 2. Both treatment increased mobility of spinal column while joint mobilization more increased mobility of spinal column than therapeutic exercise. 3. Joint mobilization increased muscle power while therapeutic exercise decreased muscle power. Conclusion: in a group-wise comparison joint mobilization is more effective than therapeutic exercise.

• Journal of Preventive Medicine and Public Health
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• v.39 no.5
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• pp.404-410
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• 2006

Objectives: This study examined the natural history of symptomatic patients who did or did not display abnormal results on nerve conduction studies (NCS). Methods: Forty hundred fifty adults were selected among a total of 578 residents who participated in the health examination in a rural Korean district. A symptom questionnaire and NCS were used to diagnose ulnar neuropathy at the elbow (UNE). There were 6.4% of the subjects with UNE, 5.1 % of the subjects showed symptoms without a NCS, and 84.2% of the subjects who were asymptomatic. One year later, 20 symptomatic limbs with an abnormality on the ulnar NCS and 22 symptomatic limbs without any abnormality in the ulnar NCS were enrolled in a follow-up study. The natural history of UNE was evaluated by examining the changes in the clinical and electrodiagnostic examinations. Results: The 1-year follow-up of the enrolled limbs found that for the symptomatic limbs with an abnormality on the NCS, the degree of severe of the clinical grade changed from 20% to 10%. In contrast, for the symptomatic limbs that were without any abnormality in the NCS, the change of the severe degree of the clinical grade was from 0% to 18.2%. Also, for the electrodiagnostic change, only symptomatic limbs without NCS abnormalities showed significant changes in motor latency, amplitude and conduction velocity at the 1-year follow-up. Conclusions: The 1-year follow-up study revealed symptomatic limbs that were without any abnormality on the ulnar NCS were more likely to progress than the symptomatic limbs with an abnormality on the ulnar NCS.